- 启动,载入ROS(Robot Operating System)环境的相关设置和变量。
export FASTRTPS_DEFAULT_PROFILES_FILE=~/.ros/fastdds.xml source /opt/ros/humble/setup.bash source /home/linhai/code/ros2/IsaacSim-ros_workspaces/humble_ws/install/setup.bash
- rqt_graph
ros2 run rqt_graph rqt_graph
- 实时查看ROS图像话题(image topics)的数据流
ros2 run rqt_image_view rqt_image_view
- 查看话题(topic)信息
ros2 topic echo /odom --no-arr
- 记录数据,分析bag信息,读取数据
ros2 bag record /topic_name
ros2 bag info <bag_file_path>
ros2 bag play <bag_file_path>